lti::rayTraceEllipsoid< T > Class Template Reference

Ray tracing object for ellipsoids. More...

#include <ltiDraw3D.h>

Inheritance diagram for lti::rayTraceEllipsoid< T >:

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Collaboration diagram for lti::rayTraceEllipsoid< T >:

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List of all members.

Public Member Functions
	rayTraceEllipsoid (draw3D< T > &drawer)
	rayTraceEllipsoid (draw3D< T > &drawer, const dpoint3D &theMean, const dmatrix &covar, const double &theMahDist=1)
void	setEllipsoid (const dpoint3D &theMean, const dmatrix &covar, const double &theMahDist=1)
virtual bool	rayTrace (const int x, const int y, double &z2, T &val)
virtual bool	render ()
virtual const char *	getTypeName () const
Protected Member Functions
bool	intersectRayEllipsoid (const dpoint3D &ip, const dpoint3D &ray, const dpoint3D &mu, const matrix< double > &sigma, const double &mah, double &lambda, dpoint3D &sp)
void	calcNormal (const dpoint3D &intersectionPoint, const dpoint3D &mu, const matrix< double > &sigma, dpoint3D &normal) const
Protected Attributes
dpoint3D	mean
dmatrix	sigma
dmatrix	invMat
double	mahDist
T	storedColor

Detailed Description

template<class T>
class lti::rayTraceEllipsoid< T >

Ray tracing object for ellipsoids.

Constructor & Destructor Documentation

template<class T >

lti::rayTraceEllipsoid< T >::rayTraceEllipsoid ( draw3D< T > & drawer )

The constructor must receive the drawer object, where this object will be draw.

template<class T >

lti::rayTraceEllipsoid< T >::rayTraceEllipsoid	(	draw3D< T > &	drawer,
		const dpoint3D &	theMean,
		const dmatrix &	covar,
		const double &	theMahDist = `1`
	)

The constructor must receive the drawer object, where this object will be draw.

Parameters:

	drawer	the drawer object where the ellipsoid will be drawn.
	theMean	mean point of the ellipsoid
	covar	covariance matrix used in the definition of the ellipsoid. This should be a 3x3 symmetric positive definite matrix.
	theMahDist	mahalanobis distance using the given covariance matrix between the mean point and the surface of the ellipsoid.

Member Function Documentation

template<class T >

void lti::rayTraceEllipsoid< T >::calcNormal	(	const dpoint3D &	intersectionPoint,
		const dpoint3D &	mu,
		const matrix< double > &	sigma,
		dpoint3D &	normal
	)			const `[protected]`

compute the normal vector of an ellipsoid surface at a specific point

template<class T >

virtual const char* lti::rayTraceEllipsoid< T >::getTypeName ( ) const [virtual]

return the name of the this object

Reimplemented from lti::rayTraceObject< T >.

template<class T >

bool lti::rayTraceEllipsoid< T >::intersectRayEllipsoid	(	const dpoint3D &	ip,
		const dpoint3D &	ray,
		const dpoint3D &	mu,
		const matrix< double > &	sigma,
		const double &	mah,
		double &	lambda,
		dpoint3D &	sp
	)			`[protected]`

Given a point of the image plane in world coordinates and the direction of a ray passing through the focal point and the image point, compute the intersection of the ray and the ellipsoid formed using a constant mahalanobis distance from the mean value to the surface of the ellipsoid under consideration of the given covariance matrix.

Parameters:

	ip	point of the image plane in world coordinates (see p2Dto3D())
	ray	point describing the direction of a ray passing through the image point and the focal point
	mu	mean value of the ellipsoid
	sigma	covariance matrix
	mah	mahalanobis distance between the ellipsoid surface and the mean value mu
	lambda	imgPnt + lambda*ray is the point on the ellipsoid surface to be considered
	sp	point at the surface of the ellipsoid

Returns:: true if point was found, or false if the image point does not belong to the ellipsoid

template<class T >

virtual bool lti::rayTraceEllipsoid< T >::rayTrace	(	const int	x,
		const int	y,
		double &	z2,
		T &	val
	)			`[virtual]`

Compute the value of the pixel at x,y.

Parameters:

	x	x coordinate in the image
	y	y coordinate in the image
	z2	z coordinate of the surface point belonging to the given pixel (required for the z-buffering).
	val	computed color (or gray) value for the given (x,y) pixel

Returns:: true if the position corresponds to a pixel on the surface of the object.

Implements lti::rayTraceObject< T >.

template<class T >

virtual bool lti::rayTraceEllipsoid< T >::render ( ) [virtual]

render the whole object.

Returns:: true if something was drawn, of false otherwise

Implements lti::rayTraceObject< T >.

template<class T >

void lti::rayTraceEllipsoid< T >::setEllipsoid	(	const dpoint3D &	theMean,
		const dmatrix &	covar,
		const double &	theMahDist = `1`
	)

set the parameters of the ellipsoid.

Parameters:

	theMean	mean point of the ellipsoid
	covar	covariance matrix used in the definition of the ellipsoid. This should be a 3x3 symmetric positive definite matrix.
	theMahDist	mahalanobis distance using the given covariance matrix between the mean point and the surface of the ellipsoid.